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"placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "stovetop_main_group", + "min_size": [ + 0.14058040522499995, + 0.15531658739999996, + 0.17726494733999992 + ] + }, + "size": [ + 0.35, + 0.35 + ], + "pos": [ + "ref", + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_5/model.xml" + }, + "reset_region": { + "size": [ + 1.019460818110389, + 0.65 + ], + "offset": [ + -1.3902695909448055, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "stove_distr", + "obj_groups": [ + "pan", + "pot" + ], + "placement": { + "fixture": "stovetop_main_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.02, + 0.02 + ], + "rotation": [ + [ + -1.1780972450961724, + -0.7853981633974483 + ], + [ + 0.7853981633974483, + 1.1780972450961724 + ] + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan", + "pot" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_8/model.xml" + }, + "reset_region": { + "offset": [ + 0.30716300182360834, + 0.14229634545521547, + -0.006867567240825858 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "floor_room": { + "cls": "Floor" + }, + "floor_backing_room": { + "cls": "Floor" + }, + "outlet_room": { + 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Then turn the burner on.", + "fixture_refs": { + "stove": "stovetop_main_group", + "counter": "counter_main_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.8115428029456226, + -0.79221927092947, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/target/composite/KettleBoiling/20250814/lerobot/extras/episode_000296/ep_meta.json b/target/composite/KettleBoiling/20250814/lerobot/extras/episode_000296/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2ccfd64c65d0902b1d84fe4cb247a377f4faecda --- /dev/null +++ b/target/composite/KettleBoiling/20250814/lerobot/extras/episode_000296/ep_meta.json @@ -0,0 +1,607 @@ +{ + "layout_id": 7, + "style_id": 7, + "object_cfgs": [ + { + "name": "obj", + "obj_groups": "kettle_non_electric", + "graspable": true, + "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "stovetop_main_group", + "min_size": [ + 0.14058040522499995, + 0.15531658739999996, + 0.17726494733999992 + ] + }, + "size": [ + 0.35, + 0.35 + ], + "pos": [ + "ref", + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_5/model.xml" + }, + "reset_region": { + "size": [ + 0.6208974425329139, + 0.65 + ], + "offset": [ + -1.1895512787335432, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "stove_distr", + "obj_groups": [ + "pan", + "pot" + ], + "placement": { + "fixture": "stovetop_main_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.02, + 0.02 + ], + 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"cls": "HousingCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "micro_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "side_bottom_right_group_base": { + "cls": "Box" + }, + "side_bottom_right_group_1": { + "cls": "Drawer" + }, + "side_bottom_right_group_2": { + "cls": "Drawer" + }, + "side_bottom_right_group_3": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick the kettle from the counter and place it on a stove burner. 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"placement": { + "fixture": "counter_right_main_group", + "sample_region_kwargs": { + "ref": "stove_main_group", + "min_size": [ + 0.14058040522499995, + 0.15531658739999996, + 0.17726494733999992 + ] + }, + "size": [ + 0.35, + 0.35 + ], + "pos": [ + "ref", + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_5/model.xml" + }, + "reset_region": { + "size": [ + 2.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "stove_distr", + "obj_groups": [ + "pan", + "pot" + ], + "placement": { + "fixture": "stove_main_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.02, + 0.02 + ], + "rotation": [ + [ + -1.1780972450961724, + -0.7853981633974483 + ], + [ + 0.7853981633974483, + 1.1780972450961724 + ] + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan", + "pot" + ], + "cat": "pot", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot075/model.xml" + }, + "reset_region": { + "offset": [ + 0.19242504195108387, + -0.06143765337741391, + 0.47939760622357674 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "outlet_3_room": { + "cls": "WallAccessory" + }, + 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+ "placement": { + "fixture": "counter_main_main_group", + "sample_region_kwargs": { + "ref": "stove_main_group", + "min_size": [ + 0.211158, + 0.1599644, + 0.19934399 + ] + }, + "size": [ + 0.35, + 0.35 + ], + "pos": [ + "ref", + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle024/model.xml" + }, + "reset_region": { + "size": [ + 2.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "stove_distr", + "obj_groups": [ + "pan", + "pot" + ], + "placement": { + "fixture": "stove_main_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.02, + 0.02 + ], + "rotation": [ + [ + -1.1780972450961724, + -0.7853981633974483 + ], + [ + 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"placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "stove_left_group", + "min_size": [ + 0.21073039999999998, + 0.1559497, + 0.20054693 + ] + }, + "size": [ + 0.35, + 0.35 + ], + "pos": [ + "ref", + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle021/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "stove_distr", + "obj_groups": [ + "pan", + "pot" + ], + "placement": { + "fixture": "stove_left_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.02, + 0.02 + ], + "rotation": [ + [ + -1.1780972450961724, + -0.7853981633974483 + ], + [ + 0.7853981633974483, + 1.1780972450961724 + ] + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "pan", + "pot" + ], + "cat": "pan", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_6/model.xml" + }, + "reset_region": { + "offset": [ + -0.18070923625344074, + -0.09112376188327641, + 0.34503132559806926 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + } + ], + "fixtures": { + "wall_room": { + "cls": "Wall" + }, + "wall_backing_room": { + "cls": "Wall" + }, + "wall_left_room": { + "cls": "Wall" + }, + "wall_left_backing_room": { + "cls": "Wall" + }, + "wall_right_room": { + "cls": "Wall" + }, + "wall_right_backing_room": { + "cls": "Wall" + }, + "outlet_room": { + "cls": "WallAccessory" + }, + "outlet_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + 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"placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "stove_main_group", + "min_size": [ + 0.14558433938999996, + 0.19008931850999994, + 0.16693780508999997 + ] + }, + "size": [ + 0.35, + 0.35 + ], + "pos": [ + "ref", + -1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kettle_non_electric", + "receptacle", + "kettle", + "cookware" + ], + "groups": [ + "kettle_non_electric" + ], + "cat": "kettle_non_electric", + "split": "test", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_4/model.xml" + }, + "reset_region": { + "size": [ + 1.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "stove_distr", + "obj_groups": [ + "pan", + "pot" + ], + "placement": { + "fixture": "stove_main_group", + "ensure_object_boundary_in_range": false, + "size": [ + 0.02, + 0.02 + ], + "rotation": [ + [ + -1.1780972450961724, + -0.7853981633974483 + ], + 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